HYBRID MOTION CONTROL OF CABLE-DRIVEN HYPER REDUNDANT ROBOT CONSIDERING KINEMATIC AND TENSION OPTIMIZATION

2019 ◽  
Vol 34 (5) ◽  
Author(s):  
Cheng Wei ◽  
Haiyu Gu ◽  
Shengxin Sun ◽  
Yang Zhao
Keyword(s):  
Motion Control ◽  
Redundant Robot ◽  
Hybrid Motion

scholarly journals Emulating a robotic manipulator arm with an hybrid motion-control system

2015 ◽  
Vol 582 ◽  
pp. 012052
Author(s):  
G Aragón-González ◽  
A León-Galicia ◽  
M Noriega-Hernández ◽  
A Salazar-Hueta
Keyword(s):  
Control System ◽  
Motion Control ◽  
Robotic Manipulator ◽  
Motion Control System ◽  
Manipulator Arm ◽  
Hybrid Motion

Neuro-Based Position and Force Hybrid Control of Six-Legged Walking Robot

2002 ◽  
Vol 14 (4) ◽  
pp. 324-332 ◽  
Author(s):  
Qing-jiu Huang ◽  
◽  
Kenzo Nonami ◽  
Keyword(s):  
Motion Control ◽  
High Efficiency ◽  
Hybrid Control ◽  
Force Sensors ◽  
Walking Robot ◽  
Irregular Terrain ◽  
Unknown Environment ◽  
Random Position ◽  
Hybrid Motion

We propose a six-legged walking robot having two manipulators which offers added stability, mobility, and functionality. We studied neuro-based position and force hybrid motion control for walking on irregular terrain. Comparison with conventional position and force hybrid control demonstrates the high efficiency of the proposed neuro-based position and force hybrid control. The neuro-based position and force hybrid control includes six-axis force sensors in each leg, which provide control vertically, i.e., in the direction of gravity, and in the walking direction. This platform has proven to be very useful on irregular terrain including obstacles of random height and random position. Consequently, autonomous stable walking in an unknown environment has been realized through experiments.

Sign in / Sign up

Export Citation Format

Share Document